فصلنامه
نوع مقاله : مقاله پژوهشی
نویسنده
استادیار، مهندسی مکانیک، گروه مهندسی مکانیک، دانشکده مهندسی، دانشگاه شهید چمران اهواز، اهواز، خوزستان
کلیدواژهها
عنوان مقاله English
نویسنده English
This paper presents the dynamic modeling of a robotic manipulator capable of fluid conveyance using the Gibbs-Appell formulation. The primary objective is to derive efficient recursive equations for systems with non-material control volumes, where constant-velocity fluid flow induces complex inertial and Coriolis forces. First, the kinematic relations are derived using a material approach and the Denavit-Hartenberg convention. Subsequently, the equations of motion are formulated by calculating the Gibbs function (acceleration energy) for the rigid links, the conveyed fluid, and the concentrated masses of the actuators. This approach significantly reduces computational complexity, providing an ideal framework for real-time control. To validate the model, a 5-DOF manipulator was simulated under a Computed Torque Control scheme in two scenarios: "No-Fluid" and "Fluid-Conveying." The results demonstrate that fluid flow increases joint torques by up to 18% and alters transient responses. The proposed model successfully maintained the tracking error within 15 mrad despite hydrodynamic disturbances, proving its high fidelity in analyzing fluid-structure interaction.
کلیدواژهها English
